RRC Restablishment after RRC Connection fail

Hi All.

Does RRC Restablishment work in case of Handover failure or connection drop only?

Or it can work in the case of going from idle to dedicated to setup a new connection?

What I mean, for example: if I want to make a call after RACH procedures and I start to setup RRC Connection, but it fails. At this time can I do RRC Restablishment?